bool RoboClaw::SpeedDistanceM1M2(uint8_t address, uint32_t speed1, uint32_t distance1, uint32_t speed2, uint32_t distance2, uint8_t flag){
return write_n(19,address,MIXEDSPEEDDIST,SetDWORDval(speed1),SetDWORDval(distance1),SetDWORDval(speed2),SetDWORDval(distance2),flag);
}
bool RoboClaw::SpeedAccelDistanceM2(uint8_t address, uint32_t accel, uint32_t speed, uint32_t distance, uint8_t flag){
return write_n(15,address,M2SPEEDACCELDIST,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(distance),flag);
}
bool RoboClaw::WriteNVM(uint8_t address){
return write_n(6,address,WRITENVM, SetDWORDval(0xE22EAB7A) );
}
void RoboClaw::SpeedM1(uint8_t address, uint32_t speed){
write_n(6,address,M1SPEED,SetDWORDval(speed));
}
bool RoboClaw::SetM2PositionPID(uint8_t address,float kp_fp,float ki_fp,float kd_fp,uint32_t kiMax,uint32_t deadzone,uint32_t min,uint32_t max){
uint32_t kp=kp_fp*1024;
uint32_t ki=ki_fp*1024;
uint32_t kd=kd_fp*1024;
return write_n(30,address,SETM2POSPID,SetDWORDval(kd),SetDWORDval(kp),SetDWORDval(ki),SetDWORDval(kiMax),SetDWORDval(deadzone),SetDWORDval(min),SetDWORDval(max));
}
bool RoboClaw::SpeedAccelDeccelPositionM1M2(uint8_t address,uint32_t accel1,uint32_t speed1,uint32_t deccel1,uint32_t position1,uint32_t accel2,uint32_t speed2,uint32_t deccel2,uint32_t position2,uint8_t flag){
return write_n(35,address,MIXEDSPEEDACCELDECCELPOS,SetDWORDval(accel1),SetDWORDval(speed1),SetDWORDval(deccel1),SetDWORDval(position1),SetDWORDval(accel2),SetDWORDval(speed2),SetDWORDval(deccel2),SetDWORDval(position2),flag);
}
bool RoboClaw::SetEncM2(uint8_t address, int32_t val){
return write_n(6,address,SETM2ENCCOUNT,SetDWORDval(val));
}
bool RoboClaw::DutyAccelM2(uint8_t address, uint16_t duty, uint32_t accel){
return write_n(8,address,M2DUTYACCEL,SetWORDval(duty),SetDWORDval(accel));
}
void RoboClaw::SpeedDistanceM1(uint8_t address, uint32_t speed, uint32_t distance, uint8_t flag){
write_n(11,address,M1SPEEDDIST,SetDWORDval(speed),SetDWORDval(distance),flag);
}
void RoboClaw::SpeedAccelDistanceM1M2(uint8_t address, uint32_t accel, uint32_t speed1, uint32_t distance1, uint32_t speed2, uint32_t distance2, uint8_t flag){
write_n(23,address,M1SPEEDACCELDIST,SetDWORDval(accel),SetDWORDval(speed1),SetDWORDval(distance1),SetDWORDval(speed2),SetDWORDval(distance2),flag);
}
void RoboClaw::SpeedAccelM1M2(uint8_t address, uint32_t accel, uint32_t speed1, uint32_t speed2){
write_n(10,address,MIXEDSPEEDACCEL,SetDWORDval(accel),SetDWORDval(speed1),SetDWORDval(speed2));
}
void RoboClaw::SpeedAccelM1(uint8_t address, uint32_t accel, uint32_t speed){
write_n(10,address,M1SPEEDACCEL,SetDWORDval(accel),SetDWORDval(speed));
}
void RoboClaw::SpeedM1M2(uint8_t address, uint32_t speed1, uint32_t speed2){
write_n(10,address,M1SPEED,SetDWORDval(speed1),SetDWORDval(speed2));
}
bool RoboClaw::SpeedAccelM1M2_2(uint8_t address, uint32_t accel1, uint32_t speed1, uint32_t accel2, uint32_t speed2){
return write_n(18,address,MIXEDSPEED2ACCEL,SetDWORDval(accel1),SetDWORDval(speed1),SetDWORDval(accel2),SetDWORDval(speed2));
}
bool RoboClaw::SetM2VelocityPID(uint8_t address, float kp_fp, float ki_fp, float kd_fp, uint32_t qpps){
uint32_t kp = kp_fp*65536;
uint32_t ki = ki_fp*65536;
uint32_t kd = kd_fp*65536;
return write_n(18,address,SETM2PID,SetDWORDval(kd),SetDWORDval(kp),SetDWORDval(ki),SetDWORDval(qpps));
}
bool RoboClaw::SpeedAccelDistanceM1M2_2(uint8_t address, uint32_t accel1, uint32_t speed1, uint32_t distance1, uint32_t accel2, uint32_t speed2, uint32_t distance2, uint8_t flag){
return write_n(27,address,MIXEDSPEED2ACCELDIST,SetDWORDval(accel1),SetDWORDval(speed1),SetDWORDval(distance1),SetDWORDval(accel2),SetDWORDval(speed2),SetDWORDval(distance2),flag);
}
bool RoboClaw::SpeedM2(uint8_t address, uint32_t speed){
return write_n(6,address,M2SPEED,SetDWORDval(speed));
}
bool RoboClaw::DutyAccelM1M2(uint8_t address, uint16_t duty1, uint32_t accel1, uint16_t duty2, uint32_t accel2){
return write_n(14,address,MIXEDDUTYACCEL,SetWORDval(duty1),SetDWORDval(accel1),SetWORDval(duty2),SetDWORDval(accel2));
}
bool RoboClaw::SpeedM1M2(uint8_t address, uint32_t speed1, uint32_t speed2){
return write_n(10,address,MIXEDSPEED,SetDWORDval(speed1),SetDWORDval(speed2));
}
bool RoboClaw::SpeedAccelDeccelPositionM2(uint8_t address,uint32_t accel,uint32_t speed,uint32_t deccel,uint32_t position,uint8_t flag){
return write_n(19,address,M2SPEEDACCELDECCELPOS,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(deccel),SetDWORDval(position),flag);
}
bool RoboClaw::SpeedAccelM2(uint8_t address, uint32_t accel, uint32_t speed){
return write_n(10,address,M2SPEEDACCEL,SetDWORDval(accel),SetDWORDval(speed));
}
bool RoboClaw::SetM2DefaultAccel(uint8_t address, uint32_t accel){
return write_n(6,address,SETM2DEFAULTACCEL,SetDWORDval(accel));
}
bool RoboClaw::SpeedDistanceM2(uint8_t address, uint32_t speed, uint32_t distance, uint8_t flag){
return write_n(11,address,M2SPEEDDIST,SetDWORDval(speed),SetDWORDval(distance),flag);
}
bool RoboClaw::SetM2MaxCurrent(uint8_t address,uint32_t max){
return write_n(10,address,SETM2MAXCURRENT,SetDWORDval(max),SetDWORDval(0));
}
void RoboClaw::SetM2Constants(uint8_t address, uint32_t kd, uint32_t kp, uint32_t ki, uint32_t qpps){
write_n(18,address,SETM2PID,SetDWORDval(kd),SetDWORDval(kp),SetDWORDval(ki),SetDWORDval(qpps));
}
